Estimation of Involuntary Components of Human Arm Impedance in Multi-Joint Movements via Feedback Jerk Isolation

Borner, Hendrik; Endo, Satoshi; Hirche, Sandra

doi:10.3389/fnins.2020.00459

Cited by 3 publications

(2 citation statements)

References 63 publications

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“…As discussed in [10], the involuntary movements [38] of humans can only be observed in the first 100 ms after the human arm receives perturbations, and the best time window to deal with the identification results is 200 ms. We also observe this phenomenon in our experiment. Therefore, we use 100, 200, 300, 500, and 1000 ms to process our data separately, and the 200 ms time window is identified as the most successful identification period (i.e., more than 80% of the identification results recorded within this window have physical significance).…”

Section: B Variable Impedance Tele-demonstration and Lfd Methodsmentioning

confidence: 99%

Robot Variable Impedance Skill Transfer and Learning Framework Based on a Simplified Human Arm Impedance Model

Zhang

Zhao

2020

IEEE Access

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Section: B Variable Impedance Tele-demonstration and Lfd Methodsmentioning

confidence: 99%

Robot Variable Impedance Skill Transfer and Learning Framework Based on a Simplified Human Arm Impedance Model

Zhang

Zhao

2020

IEEE Access

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“…Researchers have extensively studied the mechanical impedance of limbs under the control prism [4][5][6], as it relates kinematics to forces, and enables modeling human movements during physical interactions. However, studying mechanical impedance is strenuous since it cannot be measured directly.…”

Section: Introductionmentioning

confidence: 99%

Human arm endpoint-impedance in rhythmic human-robot interaction exhibits cyclic variations

Fortineau,

Siegler,

Makarov

et al. 2023

PLoS ONE

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Estimating the human endpoint-impedance interacting with a physical environment provides insights into goal-directed human movements during physical interactions. This work examined the endpoint-impedance of the upper limb during a hybrid ball-bouncing task with simulated haptic feedback while participants manipulated an admittance-controlled robot. Two experiments implemented a force-perturbation method to estimate the endpoint parameters of 31 participants. Experimental conditions of the ball-bouncing task were simulated in a digital environment. One experiment studied the influence of the target height, while the other explored the impedance at three cyclic phases of the rhythmic movement induced by the task. The participants’ performances were analyzed and clustered to establish a potential influence of endpoint impedance on performance in the ball-bouncing task. Results showed that endpoint-impedance parameters ranged from 45 to 445 N/m, 2.2 to 17.5 Ns/m, and 227 to 893 g for the stiffness, damping, and mass, respectively. Results did not support such a critical role of endpoint impedance in performance. Nevertheless, the three endpoint-impedance parameters described significant variations throughout the arm cycle. The stiffness is linked to a quasi-linear increase, with a maximum value reached before the ball impacts. The observed damping and mass cyclic variations seemed to be caused by geometric and kinematic variations. Although this study reveals rapid and within-cycles variations of endpoint-impedance parameters, no direct relationship between endpoint-impedance values and performance levels in ball-bouncing could be found.

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Symmetric unipedal balance in quiet stance and dynamic tasks in older individuals

Janeiro Valenciano,

Emiliano Castan,

Henrique Martins Monteiro

et al. 2024

Brain Research

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Estimation of Involuntary Components of Human Arm Impedance in Multi-Joint Movements via Feedback Jerk Isolation

Cited by 3 publications

References 63 publications

Robot Variable Impedance Skill Transfer and Learning Framework Based on a Simplified Human Arm Impedance Model

Robot Variable Impedance Skill Transfer and Learning Framework Based on a Simplified Human Arm Impedance Model

Human arm endpoint-impedance in rhythmic human-robot interaction exhibits cyclic variations

Symmetric unipedal balance in quiet stance and dynamic tasks in older individuals

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